Stimation; (d) the relative error of accelerometer bias estimation. of accelerometer bias estimation.As can be seen in Figure 4a, amongst the attitude errors, the relative yaw error will be the largest. five. Conclusions yaw error reaches 5 `without covariance transformation. The integrated The relative The benefit with covariance 1-?Furfurylpyrrole manufacturer transformation system is the fact that yaw error of 0.2`. navigation outcome of thecovariance transformation includes a less relative it establishes the As transformation partnership of theposition error is 12 m, with no involving the n-frame plus the shown in Figure 4b, the relative integrated navigation filter covariance transformation. G-frame. It fundamentally solves the issue of transformation shows far better stability and also a integrated navigation result with covariance filter overshoot and error discontinuity. brought on by the transform in navigation eight m. As enhancing navigation accuracy when crossing the smaller relative position error of frame, shown in Figure 4c,d, the maximum bias error in the polar region. Besides this, the covariance transformation approach does not change h, gyroscope with and without covariance transformation reached 0.001 h and 0.02 the current navigation algorithm. The resultsthe the flight experimentand without the need of covariance respectively. The maximum bias error of of accelerometer, with and semi-physical simulation show that the covariance transformation process is efficient at any latitude. As transformation, reached 0.1 ug and 25 ug, respectively. the latitude increases, the horizontal component in the earth’s rotational angular velocity decreases, resulting in weaker observability from the yaw angle error. The error fluctuation five. Conclusions caused by the frame switching will raise. Within this case, the covariance transformation The advantage from the covariance transformation strategy is that it establishes the technique nonetheless tends to make a smooth transformation via the integrated navigation filter. transformation partnership from the integrated navigation filter involving the n-frame and Gframe. It fundamentally solves the problem of curation, Y.Z.; formal evaluation, Y.Z.; investigaAuthor Contributions: Conceptualization, L.W.; information filter overshoot and error discontinuity. brought on tion,by the change in navigation frame, improving navigation draft, Y.Z.;when crossing the polar C.G.; methodology, L.W.; supervision, G.W.; writing–original accuracy writing–review and region. Besides this, the covariance transformation strategy does not alter the existing editing, L.W. All authors have study and agreed towards the published version of your manuscript. navigation algorithm. The results of your flight experiment and semi-physical simulation show Funding: This analysis was funded by the National Nature Science Foundation of China, grant that the covariance transformation strategy is helpful at any latitude. As the latitude number 62003360, plus the Simple Investigation Project of c-di-GMP (sodium);cyclic diguanylate (sodium);5GP-5GP (sodium) Cancer College of Advanced Interdisciplinary Studies, increases, the horizontal element with the earth’s rotational angular velocity decreases, grant number ZDJC19-07. resulting in weaker observability with the yaw angle error. The error fluctuation triggered by the frame switching will increase. Within this case, the covariance transformation approach nonetheless tends to make a smooth transformation through the integrated navigation filter.Author Contributions: Conceptualization, L.W.; information curation, Y.Z.; formal analysis, Y.Z.; investigation, C.G.; methodology, L.W.; supervision, G.W.; writing–original d.
